Abstract
A vision-based target-following guider for mobile robot is presented in this paper. It consists of three parts: the visual tracking part; the target redetection part; and the visual servo part. In the visual tracking part, the target contour band is proposed for irregular sampling, which can improve the performance of the correlation filter-based methods. In the target redetection part, potential targets are searched by an offline trained detector. Then an online training module is used to determine the real target and achieve accurate positioning. The interaction matrix of point features is used in the visual servo part for motion control to maintain the relative pose between the target and the robot. The visual tracking part and the target redetection part are tested respectively on many videos, which proved to work well. To show the effectiveness of our method, some state-of-the-art methods are also tested. The target-following guider is evaluated on mobile robots. In our experiments, the robot can robustly follow the human target over a long distance, which strongly proved the validity of our target-following guider.
Published Version
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